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Sequence of aa.cs.f sm FSM States transitions in the living room scenario As a base simulation software the Gazebo is used (R-(e)). The Gazebo provides all necessary Environment-related input data, along with a 3D representation of the Environment (R-(f)). The HuBeRo framework itself introduces a novel local planning algorithm, which is supported by the external global
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Social robots' software is commonly tested in a simulation due to the safety and convenience reasons as well as an environment configuration repeatability assurance. An interaction between a robot and a human requires taking a person presence and his movement abilities into consideration. The purpose of the article is to present the HuBeRo framewor...
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... for the simulated actors. The Environment con�iguration (at the end of the scenario) along with paths executed during the operation (R-(d)) and the personal space shapes are presented in the screenshots. The desired speed of pedestrians in all cases was set to 1.29 m/s [15], whereas speed limits arise from object's dynamics. The �irst scenario (Fig. 7) is realised in the living room with 2 Humans -actor1/aa and actor2/aa. The initial Environment con�iguration is shown in Fig. 9. At �irst, actor2/aa walks over to actor1/aa and invites him to eat a dinner. Later on, both actor1/aa and actor2/aa go to the table surroundings. The same scenario was executed 2 times� for the �irst time ...
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To interact with humans more precisely and naturally, social robots need to “perceive” human engagement intention, especially need to recognize the main interaction person in multi-person interaction scenarios. By analyzing the intensity of human engagement intention (IHEI), social robots can distinguish the intention of different persons. Most exi...
Citations
... Human behavior is intricate and challenging to distill, necessitating the integration of different modeling approaches such as mathematical, structural, and conceptual [23]. HRC is typically modeled using behavioral models [34]. ...
Currently, we see a rapid digitization of manufacturing processes using robotic systems. However, not all work can be automatized at reasonable cost in the foreseeable future. As a consequence, human-robot collaborations are defined for complex work tasks. In human-robot collaborations, humans and robots share the same working space and work in parallel in close vicinity. In addition, humans and robots work at the same time on the same task. Per definition, human-robot collaborations must be considered safety-critical and be treated as such. Therefore, not only must the adaptive behavior of the robot be specified to perfectly align with the expected human behavior, but safety analyses are mandated to specify potential hazards harming the human, the robot, or the work product. To support meaningful safety analyses and thereby the identification of needed monitoring and safety mechanism to be implemented as early as possible, we investigate the use of GRL goal models to specify safety threats in human robot collaboration and foster the definition of safety tasks.
... The key design aspects for the «SimAgent»s are the actions affecting the Simulated World and their model sensed by the SPSys' receptors. To model humans as «SimAgent», we propose our framework Human Behaviour in Robotics Research (HuBeRo) [40]. It specifies and implements agents mirroring human behaviours and their physical models in simulation (Fig. 12). ...
... Step Step 3: The robot in the INCARE project coexists with humans; thus, we utilise WorldSync «WorldMirrGpAgents» to manage humans in the Simulated World. Detailed specification and realisation of WorldSync «WorldMirrGpAgents» is available in [40]. ...
... Agent types of HuBeRo framework[40] used in SPSys as «WorldMirrGpAgents» that mirrors humans in Simulated World.System planning and analysis•Step 1 (Requirement specification): The requirements are specified following the model defined in Sec. 4.1. ...
Robotic systems are complex cyber-physical systems (CPS) commonly equipped with multiple sensors and effectors. Recent simulation methods enable the Digital Twin (DT) concept realisation. However, DT employment in robotic system development, e.g. in-development testing, is unclear. During the system development, its parts evolve from simulated mockups to physical parts which run software deployed on the actual hardware. Therefore, a design tool and a flexible development procedure ensuring the integrity of the simulated and physical parts are required. We aim to maximise the integration between a CPS's simulated and physical parts in various setups. The better integration, the better simulation-based testing coverage of the physical part (hardware and software). We propose a Domain Specification Language (DSL) based on Systems Modeling Language (SysML) that we refer to as SPSysML (Simulation-Physical System Modeling Language). SPSysML defines the taxonomy of a Simulation-Physical System (SPSys), being a CPS consisting of at least a physical or simulated part. In particular, the simulated ones can be DTs. We propose a SPSys Development Procedure (SPSysDP) that enables the maximisation of the simulation-physical integrity of SPSys by evaluating the proposed factors. SPSysDP is used to develop a complex robotic system for the INCARE project. In subsequent iterations of SPSysDP, the simulation-physical integrity of the system is maximised. As a result, the system model consists of fewer components, and a greater fraction of the system components are shared between various system setups. We implement and test the system with popular frameworks, Robot Operating System (ROS) and Gazebo simulator. SPSysML with SPSysDP enables the design of SPSys (including DT and CPS), multi-setup system development featuring maximised integrity between simulation and physical parts in its setups.
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Social robots have recently gained popularity, and many human-aware navigation approaches have emerged. This work presents
SRPB
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SRPB
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... In the beginning, the initial requirements were formulated based on: (i) literature review (both scientific and ROS wiki/community sources), (ii) author experience from supervising and supporting ROS-based projects, and finally, (iii) author experience from EARL (Embodied Agent-based cybeRphysical control systems modelling Language) [24] PIM development and its applications (e.g. [23], [32], [33]). Verification of draft versions of MeROS by its practical applications led to an iterative reformulation of requirements and MeROS itself. ...
... • Velma service robot [33], [25] 6 (Fig. 45a) (Custom controller based on ROS 1 and Orocos for hardware control and simulation in Gazebo), • assistive robot Rico [23], [32] 7 (Fig.45b) (Extended PAL controller based on ROS 1 and Orocos, recent works with ROS 2 in simulation), • MiniRyś -mobile robot with various modes of locomotions 8 (Custom controller based on ROS 2 for hardware control and simulation in Gazebo), • Dobot Magician -portable, 4-DOF robotic manipulator 9 (Custom controller based on ROS 2 for hardware control). At the forefront of the toolchain stays the modelling of the system with PIM using the EARL-based [24] SPSysML [49]. ...
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Navigation lies at the core of social robotics, enabling robots to navigate and interact seamlessly in human environments. The primary focus of human-aware robot navigation is minimizing discomfort among surrounding humans. Our review explores user studies, examining factors that cause human discomfort, to perform the grounding of social robot navigation requirements and to form a taxonomy of elementary necessities that should be implemented by comprehensive algorithms. This survey also discusses human-aware navigation from an algorithmic perspective, reviewing the perception and motion planning methods integral to social navigation. Additionally, the review investigates different types of studies and tools facilitating the evaluation of social robot navigation approaches, namely datasets, simulators, and benchmarks. Our survey also identifies the main challenges of human-aware navigation, highlighting the essential future work perspectives. This work stands out from other review papers, as it not only investigates the variety of methods for implementing human awareness in robot control systems but also classifies the approaches according to the grounded requirements regarded in their objectives.
